Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 465
Use Add-On Instructions Appendix C
Description
The raC_Dvc_K5100_MSO instruction automatically enables the specified axis
by activating the Kinetix 5100 drive and by activating the associated servo loop.
The resulting state of the axis is referred to as Ref_Axis.Input.Active.
In this transitional instruction, the relay ladder, toggle the Rung-condition-in
from cleared to set each time that the instruction executes.
Execution
Error Codes
• 100 - Kinetix 5100 drive is not ready
• 101 - Kinetix 5100 drive is faulted
• 102 - Another raC_Dvc_K5100_MSO message is executing
• 103 - raC_Dvc_K5100_MSF is executing
• 129 - Motor not connected
See Error Codes
on page 462 for details.
raC_Dvc_K5100_MSF
Use the Motion Servo Off (raC_Dvc_K5100_MSF) instruction to deactivate
the drive output for the specified axis and to deactivate the axis servo loop.
Figure 215 - MSF Ladder Diagram
IMPORTANT The instruction execution can take multiple scans to execute because it requires
multiple course updates to complete the request. The Done (Sts_DN) bit is not
set immediately, but only after the request is completed.
Condition/State Action Taken
Prescan The Sts_EN, Sts_DN, Sts_ER and
Ref_Axis.Output_IO.ServoOn are cleared to false.
Rung-condition-in is false The Sts_EN bit is cleared to false if the Sts_DN or Sts_ER
bit is true.
Rung-condition-in is true The Sts_EN bit is set to true and the instruction executes.
If the EN bit is set to false, there is no action taken,
Postscan —
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